WO2020202894A1 - Remote control system and remote control method - Google Patents

Remote control system and remote control method Download PDF

Info

Publication number
WO2020202894A1
WO2020202894A1 PCT/JP2020/007275 JP2020007275W WO2020202894A1 WO 2020202894 A1 WO2020202894 A1 WO 2020202894A1 JP 2020007275 W JP2020007275 W JP 2020007275W WO 2020202894 A1 WO2020202894 A1 WO 2020202894A1
Authority
WO
WIPO (PCT)
Prior art keywords
remote control
emergency stop
robot
switch
remote
Prior art date
Application number
PCT/JP2020/007275
Other languages
French (fr)
Japanese (ja)
Inventor
前田　育夫
藤谷　繁年
延廣　正毅
英二 吉井
Original Assignee
Idec株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Idec株式会社 filed Critical Idec株式会社
Publication of WO2020202894A1 publication Critical patent/WO2020202894A1/en

Links

Images

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04Q—SELECTING
    • H04Q9/00—Arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station, in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom

Definitions

  • the present invention relates to a remote control system and a remote control method for a device having an operation switch.
  • an emergency stop switch (operation switch) includes a push button that can be pushed by an operator, an operation axis that slides by pushing the push button, and a contact that is connected and disconnected according to the movement of the operation axis. (See FIG. 1 of JP-A-2001-335302).
  • the emergency stop switch When the emergency stop switch is operated, the device is urgently stopped by turning off the contacts due to the movement of the operation axis (stop according to stop category 0 or 1).
  • the conventional emergency stop switch requires the operator to be in the immediate vicinity of the emergency stop switch when operating the push button, and cannot be operated from a place away from the emergency stop switch. Therefore, there has been a request for an emergency stop switch with a remote control function that can be operated even from a location away from the emergency stop switch.
  • the stop according to the stop category 0 or 1 cuts off the power supply to the device, but the device stops the device while the power supply is maintained, so-called soft stop (stop according to the stop category 2).
  • a stop switch is installed for.
  • the operator had to be in the immediate vicinity of the stop switch when operating the switch, and it could not be operated from a place away from the stop switch. Therefore, there has been a request to enable the device to be stopped even from a place away from the stop switch.
  • the present invention has been made in view of such conventional circumstances, and the problem to be solved by the present invention is that the device can be remotely controlled by remote control of an operation switch by using a remote control terminal. It is an object of the present invention to provide a remote control system and a remote control method capable of remotely controlling a device according to enabling / disabling remote control. Another object of the present invention is to enable not only an emergency stop of an apparatus but also a soft stop of an apparatus by remote control from a remote control terminal.
  • the present invention is a remote control system for a device having an operation switch, and operates a remote control terminal, a detection unit that detects remote operation by the remote control terminal, and an operation switch based on the remote operation detected by the detection unit.
  • the enable / disable means when the remote control by the remote control terminal is detected by the detection unit, performs the remote control to the operation switch according to the determination as to whether the remote control should be enabled / disabled. Enable / disable.
  • the control means activates the operation switch by the operating unit when the enabling / disabling means enables remote control.
  • the device can be remotely controlled by the remote control of the operation switch. Further, since the device can be remotely controlled according to the activation / invalidation of the remote control, it is possible to remotely control the device by an operation different from the operation by the remote control.
  • the device is directly controlled by remote control by a remote control terminal without using an operation switch.
  • control means determines whether remote control is valid / invalid according to the degree of danger.
  • the control means controls the device by an operation different from the remote control of the operation switch.
  • the operation switch is an emergency stop switch
  • the remote operation is an emergency stop.
  • an operation different from the operation by remote control is a soft stop.
  • the emergency stop when the emergency stop is enabled, the operating unit activates the emergency stop switch to make the device emergency stop, and when the emergency stop is invalid, the device is soft-stopped.
  • the term "soft stop” as used in the present specification means a stop according to the stop category 2 defined in the international machine safety standard IEC 60204-1 (Japanese Industrial Standard JIS B 9960-1).
  • the emergency stop is a stop according to the stop category 0 or 1.
  • the present invention is a remote control method for a device having an operation switch, in which a remote control signal is transmitted from a remote control terminal, the transmitted remote control signal is received, and the remote control is performed after receiving the remote control signal.
  • the remote control to the operation switch is enabled or disabled according to the judgment of whether to enable or disable it, and the operation switch is activated when the remote control is enabled.
  • a remote control signal can be transmitted from a remote control terminal to remotely control the device. Further, since the device can be remotely controlled according to the activation / invalidation of the remote control, it is possible to remotely control the device by an operation different from the operation by the remote control.
  • the enable / disable means determines whether the remote control should be enabled / disabled, and the operation switch is determined.
  • the remote control to the remote control is enabled / disabled, and the control means activates the operation switch by the operating unit when the enabling / disabling means enables the remote control.
  • FIGS. 1 to 6 are diagrams for explaining a remote control system according to an embodiment of the present invention
  • FIG. 1 shows an overall configuration of a production line controlled by the remote control system according to the present embodiment
  • 2 shows a portable (wearable) wireless terminal worn by an operator
  • FIGS. 3 and 4 show an emergency stop switch unit operated by a remote control system
  • FIG. 5 shows a schematic block configuration of the remote control system
  • FIG. 6 shows an example of the control flow of the remote control system. Note that FIGS. 3 and 4 are shown without hatching for convenience of illustration.
  • FIG. 1 shows a manufacturing line including the robot R as a device remotely controlled by the remote control system according to the present embodiment.
  • this production line grips the conveyor C for transporting the work W and the work W arranged on the table T by an operator (operator) and places the work W on the conveyor C.
  • It has a robot R to be used, and a robot controller RC that stores the control program of the robot R and makes various settings for the robot R.
  • a plurality of emergency stop switch units (operation switches) 2 are provided on the side surface of the conveyor C.
  • the emergency stop switch unit 2 is also attached to the front panel of the robot controller RC.
  • the robot controller RC has a display unit 12 that performs various displays, and a stop switch 16 is attached to the front panel of the robot controller RC in addition to the emergency stop switch 2.
  • a laser scanner 13 is arranged in the vicinity of the robot R. The laser scanner 13 is for detecting the approach of a person, a work W, or the like, and around the laser scanner 13, a warning area E1 that calls attention with a warning sound or the like when a person enters, and inside the warning area E1.
  • a protective area E2 is set which is arranged and is judged to be dangerous when a person approaches.
  • a portable wireless terminal (remote control terminal) 4 as shown in FIG. 2 is attached to one wrist of the operator.
  • the wireless terminal 4 is for remotely controlling the emergency stop switch unit 2 and the robot R, and as shown in the figure, a push button 40 that can be operated by the operator with the other finger or hand, and a display.
  • It has a (display unit) 43 and a pair of left and right bands 45 wound around the operator's wrist, and the band 45 has a plurality of small holes 45a in one band 45, similarly to a wristwatch band. Is formed through, and the other band 45 is provided with a rod-shaped member (not shown) corresponding to a rod to which a wristwatch band is attached, which is inserted into these small holes 45a.
  • Both bands 45 may be freely engaged and disengaged by a hook-and-loop fastener or other engaging and disengaging means.
  • the emergency stop switch unit 2 is provided on the case (housing) 20 and one end side of the case 20, is supported by the case 20 so as to be slidable in the axial direction, and is manually operated by the operator.
  • An emergency stop button 21 having a pressing surface 21a for pushing operation (manual operation) and an operating shaft 22 connected to the back surface opposite to the pressing surface 21a of the emergency stop button 21 and extending in the axial direction inside the case 20.
  • the movable contact 23, which is attached to the tip of the operating shaft 22 and moves together with the operating shaft 22, is fixed to the inner wall surface of the case 20, is arranged to face the movable contact 23, and is brought into contact with and separated from the movable contact 23. It is provided with a fixed contact 24.
  • the emergency stop button 21 is arranged on one end side of the emergency stop switch unit 2, and the contacts are arranged on the other end side of the emergency stop switch unit 2.
  • the emergency stop switch unit 2 is further provided inside the case 20 and is attached to an electromagnetic solenoid (acting unit) 3 for operating the emergency stop button 21 and an outer wall surface of the case 20 to wirelessly from the wireless terminal 4.
  • It includes a receiving unit (detecting unit) 32 that receives a signal, and a control circuit 33 that controls the drive of the solenoid 3 based on the radio signal received (detected) by the receiving unit 32.
  • the solenoid 3 is arranged between the contact and the emergency stop button 21.
  • the solenoid 3 has a solenoid main body (electromagnetic coil portion) 30, and the solenoid main body 30 holds the operation shaft 22 so as to be slidable in the axial direction.
  • the solenoid body 30 acts to move the operating shaft 22 in the axial direction.
  • the control circuit 33 is connected to the solenoid 3 by a lead wire 34.
  • the operation shaft 22 has a flange portion 22a that projects toward the outer periphery at substantially the center thereof.
  • the inner wall surface of the case 20 is provided with an overhanging portion 20a that projects toward the inner peripheral side.
  • the overhanging portion 20a is arranged to face the flange portion 22a at a predetermined interval in the axial direction.
  • a coil spring 25 is arranged in a compressed state between the flange portion 22a and the overhanging portion 20a.
  • One end of the coil spring 25 comes into contact with the flange portion 22a and is locked so as to move with the movement of the shaft portion 22.
  • the other end of the coil spring 25 is locked to the side of the case 20 by being in contact with the overhanging portion 20a and locked.
  • the coil spring 25 exerts an elastic rebound force on the flange portion 22a and the overhanging portion 20a. Due to this elastic rebound force, the movable contact 23 is urged in the direction away from the fixed contact 24 (contact opening direction (right side in FIG. 4), that is, the side from the ON state to the OFF state of the emergency stop button 21).
  • the coil spring 25 When the emergency stop switch 2 shown in FIG. 3 is not operated (before operation), the coil spring 25 is placed in a state of maximum compression between the overhanging portion 20a and the flange portion 22a, and the elastic rebound force of the coil spring 25. Is the largest and possesses the greatest elastic energy.
  • the emergency stop switch 2 shown in FIG. 4 when the emergency stop switch 2 shown in FIG. 4 is operated, the coil spring 25 extends in the axial direction from the state shown in FIG. 3, and the elastic rebound force of the coil spring 25 is reduced. The elastic energy possessed by 25 is also reduced.
  • the operation shaft 22 has a protrusion 22b protruding toward the outer periphery in the vicinity of the emergency stop button 21.
  • the protrusion 22b has a trapezoidal vertical cross section and has a pair of inclined surfaces.
  • a pair of engaging members 26 are provided inside the case 20. Each engaging member 26 has a pair of inclined surfaces that can engage with each inclined surface of the protrusion 22b. Each engaging member 26 is urged to the side of each corresponding protrusion 22b by the elastic rebound force of the spring 27 arranged inside the case 20. In the non-operated state shown in FIG.
  • the portion in which the solenoid 3, the coil spring 25, the protrusion 22b of the operating shaft 22 and the engaging member 26 are housed corresponds to the operating part 20A, and the contact consisting of the movable contact 23 and the fixed contact 24 is housed.
  • the formed portion corresponds to the contact portion (contact portion) 20B.
  • An emergency stop button 21 is arranged on one end side of the operation unit 20A, and a contact portion 20B is arranged on the other end side.
  • the remote control system 1 has a robot controller RC.
  • the robot controller RC includes an input / output unit 11 for making various settings for the robot R, a display unit 12 for performing various displays, a laser scanner 13, and other devices for transmitting and receiving.
  • the transmission / reception unit 14 the robot drive unit 15 that drives the arm and end effector of the robot R, the stop switch 16 for softly stopping the arm and the like of the robot R, and a monitoring camera that monitors the surroundings of the robot R (shown in the figure).
  • the sensing device 17 such as a sensor (not shown) attached to the robot R, the transmission / reception unit 18 for transmitting / receiving between the other device, and the arm of the robot R for emergency stop.
  • the emergency stop switch unit 2 is connected. Wireless terminals 4 1 and 4 2 are provided so as to be able to transmit and receive to the emergency stop switch unit 2.
  • Wireless terminal 4 as shown in FIG. 5, a control circuit 44 for performing various controls.
  • the control circuit 44 includes a push button 40 for remotely controlling the emergency stop switch unit 2, a transmission unit 41 that transmits an emergency stop signal when the push button 40 is pressed, and a reception unit that receives signals from other devices.
  • the 42 and the display unit 43 are connected.
  • the wireless terminal 4 2 has almost the same configuration as the wireless terminal 4 1 , but the wireless terminal 4 2 has an ES switch (emergency stop switch) and an SS switch (soft stop switch) (neither is shown). Is further provided.
  • the emergency stop switch unit 2 of the control circuit 33 as shown in FIG. 5, the emergency stop button 21, a receiving unit 32 for receiving an emergency stop signal transmitted from the transmitter 41 of the wireless terminal 4 1 wirelessly, A transmission unit 35 that transmits a signal to another device and a solenoid 3 are connected.
  • Wi-Fi registered trademark
  • BLUETOOTH registered trademark
  • ZIGBEE registered trademark
  • BLE Bluetooth (registered trademark) Low Energy) communication
  • WiMAX registered trademark
  • step T1 of the wireless terminal 1 an emergency stop signal (remote control signal) is transmitted. That is, the operator by depressing the push button 40 of the wireless terminal 4 1, emergency stop signal from the transmitter 41 is transmitted by radio.
  • emergency stop signal remote control signal
  • the transmitted emergency stop signal is received by the receiving unit 32 of the emergency stop switch unit 2 in step S1 of the emergency stop switch unit, and after receiving, the process proceeds to step S2.
  • the timer is activated.
  • step S3 a confirmation signal is transmitted from the transmission unit 35.
  • the transmitted confirmation signal is received by the wireless terminal 2 or / or the sensing device 17 in step C1 of the wireless terminal 2 / sensing device (including the laser scanner).
  • the wireless terminal 1 is carried by the operator, while the wireless terminal 2 is carried by the operator's supervisor or the site manager.
  • the supervisor or the like recognizes the confirmation signal that the emergency stop signal has been transmitted from the operator's wireless terminal 1 by the wireless terminal 2, the supervisor or the like, for example, in the actual production line, the operator is the robot R as a danger source. If it is determined whether or not the robot R should be emergency-stopped (that is, whether the emergency stop should be enabled or disabled) based on how far it is from the robot R, and if it is determined that the robot R should be emergency-stopped, the wireless terminal Turn on the ES switch of 2. Then, the ES signal is transmitted from the transmission unit of the wireless terminal 2 (step C3).
  • step C4 the invalidation signal is transmitted from the transmission unit of the wireless terminal 2 (step C4). Therefore, in these cases, in step C2, it can be said that the user is in a standby state waiting for the switch operation of the wireless terminal 2 by the supervisor or the like.
  • step C2 it is determined whether or not the emergency stop (remote control) made by the wireless terminal 1 is valid (that is, whether the emergency stop should be enabled or disabled).
  • the sensing device 17 is a surveillance camera
  • the image taken by the surveillance camera is analyzed to determine whether or not the operator has entered the movable range of the robot R, and the sensing device 17 determines.
  • the determination is made based on whether or not the operator has entered the sensing area of the sensor, and in the case of the sensing device 17 being the laser scanner 13, the laser scanner 13 The judgment is made based on whether or not the operator has entered the protected area E2.
  • step C2 When the operator has entered the movable range of the robot R, the sensing area of the sensor, or the protected area E2 of the laser scanner 13, it is determined that the emergency stop should be enabled in step C2, and the process proceeds to step C3.
  • the ES signal is transmitted.
  • step C2 if the operator has not entered the movable range of the robot R, the sensing area of the sensor, or the protected area E2 of the laser scanner 13, it is determined in step C2 that the emergency stop should be invalidated, and the step It shifts to C4 and an invalidation signal is transmitted.
  • step S6 a current is supplied from the control circuit 33 of the emergency stop switch unit 2 to the solenoid body 30 of the solenoid 3, and the solenoid is turned on.
  • the plunger 31 of the solenoid 3 is pulled in as shown in FIG. Move to the right side of the figure.
  • the operation shaft 22 connected to the plunger 31 also moves to the right side in the drawing, the movable contact 23 is separated from the fixed contact 24, the contact is turned off, and the emergency stop button 21 is locked in a pushed state. ..
  • the state is exactly the same as when the operator manually pushes the emergency stop button 21.
  • step C4 When the invalidation signal is transmitted in step C4, the process proceeds to step S4 of the emergency stop switch unit. Then, the determination in step S4 becomes "Yes".
  • step R2 of the robot controller the SS (soft stop) signal is generated in response to the invalidation signal received in step S4 of the emergency stop switch unit, and the SS signal is transmitted in step R3. Then, in step R4, the arm or the like of the robot R softly stops.
  • the "soft stop” is a stop according to the stop category 2 defined in the international machine safety standard IEC 60204-1 (Japanese Industrial Standard JIS B 9960-1), and this soft stop.
  • the robot R stops while the arm or the like is decelerating, for example, by a control program, a sequencer, a logic circuit, or the like, while the power is still being supplied to the robot drive unit 15.
  • the "emergency stop” is a stop according to the stop category 0 or 1 defined in the above standard as described above, and at the time of this emergency stop, the power supply to the robot drive unit 15 of the robot R is cut off. The robot R stops in this state.
  • step S4 If the invalidation signal is not transmitted from step C4, the judgment in step S4 becomes "No", the process proceeds to step S5, and the time set by the timer started in step S2 has elapsed and the timeout has occurred. Judge whether or not. If it has not yet timed out, the process returns to step S4 and waits for the invalidation signal to be received. If the timeout occurs in step S5, the process proceeds to step S6. In step S6, the solenoid 3 of the emergency stop switch unit 2 is turned on to make the robot R emergency stop (see step R5).
  • step T1 of the wireless terminal 1 the emergency stop signal (remote control signal) is transmitted in step T1 of the wireless terminal 1
  • the transmitted emergency stop signal is received in step R1 of the robot controller.
  • step R2 the process proceeds to step R2 to generate an SS (soft stop) signal, and the SS signal is transmitted in step R3.
  • step R4 the arm and the like of the robot R are softly stopped. That is, in this case, the robot R is directly controlled without going through the emergency stop switch unit 2, and if an emergency stop signal is transmitted from the wireless terminal 1, it is directly received and softly stopped. It has become.
  • the invalidation signal received in step S4 of the emergency stop switch unit is on the robot controller side.
  • the robot controller can perform the processes of steps R2 to R4 to softly stop the robot R. Further, in the processing circuit on the robot controller side, the emergency stop signal and the invalidation signal from the emergency stop switch unit 2 are duplicated and connected by a logical sum (OR) circuit, so that either signal is input. If so, the robot R is soft-stopped. Even in that case, if the solenoid is turned on in step S6 of the emergency stop switch unit in response to the determination of activation in step C2, the robot R will stop in an emergency (see step R5).
  • enable / disable means activate the emergency stop / accordance judgment any and should be invalidation, specifically, the radio terminal 4 (4 1) mobile the operator, for example in accordance with criteria such as dolphin on whether the warning region are in protected areas of the robot R (the That is, the emergency stop (remote control) to the emergency stop switch unit 2 is enabled / disabled according to the degree of danger).
  • the solenoid 3 activates the emergency stop button 21 to make the robot R emergency stop.
  • the wireless terminal 4 (4 1) not only the device remotely of the emergency stop switch unit 2 can be remotely controlled (i.e. emergency stop), according to enable / disable the remote control Allows remote control of the device.
  • the device can be remotely controlled (soft stop) by an operation different from the operation by the remote control (emergency stop) of the emergency stop switch unit 2. Therefore, even if they are away from the stop switch 16, by operating the wireless terminal 4 (4 1), so that the robot R can soft stop.
  • the radio terminal 4 (4 1) functions as an emergency stop switch the closer the distance from the robot R is hazard, in that the distance from a hazard device functions as a soft stop switch if farther Obviously.
  • step R1 of the flowchart of FIG. 6 an example is shown in which the robot controller is configured to receive the emergency stop signal (remote control signal) transmitted in step T1 of the wireless terminal 1.
  • this step R1 may be omitted.
  • the robot R softly stops after receiving the invalidation signal from the emergency stop switch unit 2.
  • step S2 After receiving the emergency stop signal in step S1 of the emergency stop switch unit, the process proceeds to step S2 to activate the timer.
  • a step for determining the magnitude of the radio field intensity of the received emergency stop signal may be provided between S1 and step S2.
  • the radio wave intensity has the characteristic that attenuates in inverse proportion to the square of the distance, if the radio field intensity of the emergency stop signal received by a certain level or higher, the radio terminal 4 (4 1) Mobile the operator very much Since the position is close to the stop switch unit 2, in that case, steps S2 to S5 are skipped and the process proceeds to step S6, the solenoid 3 is turned on, and the robot R is stopped.
  • the radio wave strength of the received emergency stop signal does not reach a certain level, it means that the operator carrying the wireless terminal 1 is at a position away from the emergency stop switch unit 2.
  • the processes of steps S2 to S6 are performed in the same manner as in the example.
  • the radio terminal 4 (4 1 ) May be calculated from the respective coordinate positions of the operator carrying the robot R and the robot R, and the determination in step C2 may be made based on the distance.
  • the radio terminal 4 (4 1, 4 2) but the operator has been described as an example that the wristwatch (or wristband) type that can be worn on the wrist, the operator wear The place is not limited to the wrist, but may be a finger (that is, a ring type) or a type worn on the palm. Further, the acceleration sensor may be built in so as to operate by the snap operation of the wrist. Further, the wireless terminal 4 (4 1 , 4 2 ) is not limited to these portable types (wearable types). It may not have a mounting portion such as a band 45 for mounting on the operator's body. In this case, the wireless terminal 4 (4 1 , 4 2 ) is stored in, for example, a pocket of work clothes. Alternatively, the wireless terminal 4 (4 1 , 4 2 ) may be a pendant type operation terminal.
  • the radio terminal 4 (4 1) Although an example composed of a single wireless terminal, the application of the present invention is not limited thereto.
  • the wireless terminal 4 (4 1 ) may be composed of two or more wireless terminals, and may be linked with a tablet, a smartphone, or the like. As a result, communication with other wireless terminals, tablets, and the like becomes possible, and the certainty of operation support can be further improved.
  • the push button 40 of the wireless terminal 4 (4 1 , 4 2 ) is kept in the ON state only while the button is pressed, even in the alternate operation method in which the push button 40 is kept in the ON state even if the hand is released after the button is pressed. Either of the momentary operation methods is used. Further, in the alternate operation method, the transmission signal may not be continuously transmitted when the button is pressed, and may be a type in which the transmission signal is intermittently transmitted.
  • the present invention is useful for a remote control system and a remote control method capable of remotely controlling a device by remote control of an operation switch by a remote control terminal.
  • Remote control system 2 Emergency stop switch unit (operation switch) 3: Electromagnetic solenoid (acting part) 32: Receiver (detector) 4 (4 1 ): Portable wireless terminal (remote control terminal)

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Selective Calling Equipment (AREA)

Abstract

In the present invention, a device is controlled remotely by remote operation of an operation switch using a remote operation terminal, and the device is controlled remotely in accordance with validation/invalidation of the remote operation. The remote control system comprises: sending an emergency stop signal from a wireless terminal 1 (step T1); receiving the sent emergency stop signal by an emergency stop switch unit (step S1); and after the emergency stop signal is received, determining whether the emergency stop is validated or invalidated, and if the emergency stop is validated (step C3), activating an emergency stop button (step S6) to cause the robot to come to an emergency stop (step R4).

Description

遠隔制御システムおよび遠隔制御方法Remote control system and remote control method
　本発明は、操作スイッチを有する装置の遠隔制御システムおよび遠隔制御方法に関する。 The present invention relates to a remote control system and a remote control method for a device having an operation switch.
　一般に、非常停止スイッチ（操作スイッチ）は、操作者が押し込み操作可能な押しボタンと、押しボタンの押し込み操作によりスライド移動する操作軸と、操作軸の移動に応じて接断される接点とを備えている（特開２００１－３５３０２号公報の図１参照）。非常停止スイッチの操作時には、操作軸の移動により接点がＯＦＦ状態となることで装置が緊急停止するようになっている（停止カテゴリー０または１による停止）。 Generally, an emergency stop switch (operation switch) includes a push button that can be pushed by an operator, an operation axis that slides by pushing the push button, and a contact that is connected and disconnected according to the movement of the operation axis. (See FIG. 1 of JP-A-2001-335302). When the emergency stop switch is operated, the device is urgently stopped by turning off the contacts due to the movement of the operation axis (stop according to stop category 0 or 1).
　従来の非常停止スイッチは、押しボタン操作の際に操作者が非常停止スイッチのすぐ近くにいる必要があり、非常停止スイッチから離れた場所からでは操作できなかった。そのため、非常停止スイッチから離れた場所からでも操作を行える遠隔操作機能付きの非常停止スイッチの要請があった。 The conventional emergency stop switch requires the operator to be in the immediate vicinity of the emergency stop switch when operating the push button, and cannot be operated from a place away from the emergency stop switch. Therefore, there has been a request for an emergency stop switch with a remote control function that can be operated even from a location away from the emergency stop switch.
　その一方、上記停止カテゴリー０または１による停止では装置への電力供給が遮断されるが、装置には、電力供給が維持された状態で装置を停止させる、いわゆるソフト停止（停止カテゴリー２による停止）のための停止スイッチが設置されている。この停止スイッチについても、スイッチ操作の際には操作者が停止スイッチのすぐ近くにいる必要があり、停止スイッチから離れた場所からでは操作できなかった。そのため、停止スイッチから離れた場所からでも装置の停止操作を行えるようにしたいとする要請があった。 On the other hand, the stop according to the stop category 0 or 1 cuts off the power supply to the device, but the device stops the device while the power supply is maintained, so-called soft stop (stop according to the stop category 2). A stop switch is installed for. As for this stop switch, the operator had to be in the immediate vicinity of the stop switch when operating the switch, and it could not be operated from a place away from the stop switch. Therefore, there has been a request to enable the device to be stopped even from a place away from the stop switch.
特開２００１－３５３０２号公報（図１参照）Japanese Unexamined Patent Publication No. 2001-35302 (see FIG. 1)
　本発明は、このような従来の実情に鑑みてなされたものであり、本発明が解決しようとする課題は、遠隔操作端末を用いることにより、操作スイッチの遠隔操作で装置を遠隔制御できるとともに、遠隔操作の有効化／無効化に応じて装置を遠隔制御できる遠隔制御システムおよび遠隔制御方法を提供することにある。また、本発明の課題は、遠隔操作端末からの遠隔操作により、装置を非常停止できるばかりでなく、装置をソフト停止できるようにすることにある。 The present invention has been made in view of such conventional circumstances, and the problem to be solved by the present invention is that the device can be remotely controlled by remote control of an operation switch by using a remote control terminal. It is an object of the present invention to provide a remote control system and a remote control method capable of remotely controlling a device according to enabling / disabling remote control. Another object of the present invention is to enable not only an emergency stop of an apparatus but also a soft stop of an apparatus by remote control from a remote control terminal.
　本発明は、操作スイッチを有する装置の遠隔制御システムであって、遠隔操作端末と、遠隔操作端末による遠隔操作を検知する検知部と、検知部で検知された遠隔操作に基づいて操作スイッチを作動させる作動部と、検知部で遠隔操作が検知された際に、遠隔操作を有効／無効のいずれとすべきかの判断にしたがって、操作スイッチへの遠隔操作を有効化／無効化する有効化／無効化手段と、有効化／無効化手段により遠隔操作を有効化した場合に作動部により操作スイッチを作動させるよう制御する制御手段とを備えている。 The present invention is a remote control system for a device having an operation switch, and operates a remote control terminal, a detection unit that detects remote operation by the remote control terminal, and an operation switch based on the remote operation detected by the detection unit. Enable / disable remote control to the operation switch according to the judgment of whether to enable / disable remote control when remote control is detected by the actuating unit and the detection unit. It is provided with an activation means and a control means for controlling the operation switch to be operated by the operating unit when the remote control is enabled by the activation / invalidation means.
　本発明においては、遠隔操作端末による遠隔操作が検知部で検知されると、有効化／無効化手段が、遠隔操作を有効／無効のいずれとすべきかの判断にしたがって操作スイッチへの遠隔操作を有効化／無効化する。制御手段は、有効化／無効化手段が遠隔操作を有効化した場合に作動部により操作スイッチを作動させる。 In the present invention, when the remote control by the remote control terminal is detected by the detection unit, the enable / disable means performs the remote control to the operation switch according to the determination as to whether the remote control should be enabled / disabled. Enable / disable. The control means activates the operation switch by the operating unit when the enabling / disabling means enables remote control.
　このようにして、遠隔操作端末を用いることにより、操作スイッチの遠隔操作で装置を遠隔制御できる。また、遠隔操作の有効化／無効化に応じて装置を遠隔制御できるので、遠隔操作による操作とは異なる操作で装置を遠隔制御することも可能になる。 In this way, by using the remote control terminal, the device can be remotely controlled by the remote control of the operation switch. Further, since the device can be remotely controlled according to the activation / invalidation of the remote control, it is possible to remotely control the device by an operation different from the operation by the remote control.
　本発明では、遠隔操作端末による遠隔操作によって装置が操作スイッチを介することなく直接制御されている。 In the present invention, the device is directly controlled by remote control by a remote control terminal without using an operation switch.
　本発明では、制御手段が、危険の度合いに応じて遠隔操作の有効／無効を判断している。 In the present invention, the control means determines whether remote control is valid / invalid according to the degree of danger.
　本発明では、有効化／無効化手段により遠隔操作を無効とした場合に、制御手段が操作スイッチの遠隔操作による操作とは異なる操作により装置を制御している。 In the present invention, when the remote control is disabled by the enable / disable means, the control means controls the device by an operation different from the remote control of the operation switch.
　本発明では、操作スイッチが非常停止スイッチであり、遠隔操作が非常停止である。また、本発明では、遠隔操作による操作と異なる操作がソフト停止である。この場合には、非常停止が有効とされた場合には、作動部が非常停止スイッチを作動させて、装置を非常停止させ、非常停止が無効とされた場合には、装置をソフト停止させる。ここで、本明細書中で用いられる「ソフト停止」とは、機械安全国際規格ＩＥＣ ６０２０４－１（日本工業規格ＪＩＳ Ｂ ９９６０－１）に規定された停止カテゴリー２による停止を意味している。一方、非常停止とは、停止カテゴリー０または１による停止である。 In the present invention, the operation switch is an emergency stop switch, and the remote operation is an emergency stop. Further, in the present invention, an operation different from the operation by remote control is a soft stop. In this case, when the emergency stop is enabled, the operating unit activates the emergency stop switch to make the device emergency stop, and when the emergency stop is invalid, the device is soft-stopped. Here, the term "soft stop" as used in the present specification means a stop according to the stop category 2 defined in the international machine safety standard IEC 60204-1 (Japanese Industrial Standard JIS B 9960-1). On the other hand, the emergency stop is a stop according to the stop category 0 or 1.
　また、本発明は、操作スイッチを有する装置の遠隔制御方法であって、遠隔操作端末から遠隔操作信号を送信し、送信された遠隔操作信号を受信し、遠隔操作信号の受信後に、遠隔操作を有効とするかまたは無効とするかの判断にしたがって、操作スイッチへの遠隔操作を有効化または無効化するようにし、遠隔操作を有効化した場合に操作スイッチを作動させるようにする。 Further, the present invention is a remote control method for a device having an operation switch, in which a remote control signal is transmitted from a remote control terminal, the transmitted remote control signal is received, and the remote control is performed after receiving the remote control signal. The remote control to the operation switch is enabled or disabled according to the judgment of whether to enable or disable it, and the operation switch is activated when the remote control is enabled.
　本発明によれば、遠隔操作端末から遠隔操作信号が送信されて装置を遠隔制御できる。また、遠隔操作の有効化／無効化に応じて装置を遠隔制御できるので、遠隔操作による操作とは異なる操作で装置を遠隔制御することも可能になる。 According to the present invention, a remote control signal can be transmitted from a remote control terminal to remotely control the device. Further, since the device can be remotely controlled according to the activation / invalidation of the remote control, it is possible to remotely control the device by an operation different from the operation by the remote control.
　以上のように本発明によれば、遠隔操作端末による遠隔操作が検知部で検知されると、有効化／無効化手段が、遠隔操作を有効／無効のいずれとすべきかの判断にしたがって操作スイッチへの遠隔操作を有効化／無効化し、制御手段は、有効化／無効化手段が遠隔操作を有効化した場合に作動部により操作スイッチを作動させる。これにより、操作スイッチの遠隔操作で装置を遠隔制御できるのみならず、遠隔操作の有効化／無効化に応じて装置を遠隔制御できるので、遠隔操作による操作とは異なる操作で装置を遠隔制御することも可能になる。 As described above, according to the present invention, when the remote control by the remote control terminal is detected by the detection unit, the enable / disable means determines whether the remote control should be enabled / disabled, and the operation switch is determined. The remote control to the remote control is enabled / disabled, and the control means activates the operation switch by the operating unit when the enabling / disabling means enables the remote control. As a result, not only the device can be remotely controlled by remote control of the operation switch, but also the device can be remotely controlled according to the enable / disable of the remote control, so that the device can be remotely controlled by an operation different from the remote control operation. It will also be possible.
本発明の一実施例による遠隔制御システムによって制御される製造ラインの一例を示す全体斜視図である。It is an overall perspective view which shows an example of the manufacturing line controlled by the remote control system by one Example of this invention. 前記遠隔制御システムを構成する携帯型無線端末の正面概略図である。It is a front schematic view of the portable wireless terminal which constitutes the remote control system. 前記遠隔制御システムを構成する非常停止スイッチユニットの縦断面概略構成図であって、非常停止スイッチの非操作時の状態を示している。It is a vertical cross-sectional schematic block diagram of the emergency stop switch unit which constitutes the remote control system, and shows the state when the emergency stop switch is not operated. 前記遠隔制御システムを構成する非常停止スイッチユニットの縦断面概略構成図であって、非常停止スイッチの操作時（遠隔操作時／手動操作時）の状態を示している。It is a vertical cross-sectional schematic block diagram of the emergency stop switch unit which constitutes the remote control system, and shows the state at the time of operation (remote operation / manual operation) of an emergency stop switch. 前記遠隔制御システムの概略ブロック構成図である。It is a schematic block block diagram of the remote control system. 前記遠隔制御システムの制御フローの一例を示すフローチャートである。It is a flowchart which shows an example of the control flow of the remote control system.
　以下、本発明の実施例を添付図面に基づいて説明する。
　図１ないし図６は、本発明の一実施例による遠隔制御システムを説明するための図であって、図１は本実施例による遠隔制御システムにより制御される製造ラインの全体構成を示し、図２は操作者が着用する携帯型（ウェアラブル）無線端末を示し、図３、図４は遠隔制御システムにより操作される非常停止スイッチユニットを示し、図５は遠隔制御システムの概略ブロック構成を示し、図６は遠隔制御システムの制御フローの一例を示している。なお、図３および図４は、図示の便宜上、ハッチングを省略して示している。 Hereinafter, examples of the present invention will be described with reference to the accompanying drawings.
1 to 6 are diagrams for explaining a remote control system according to an embodiment of the present invention, and FIG. 1 shows an overall configuration of a production line controlled by the remote control system according to the present embodiment. 2 shows a portable (wearable) wireless terminal worn by an operator, FIGS. 3 and 4 show an emergency stop switch unit operated by a remote control system, and FIG. 5 shows a schematic block configuration of the remote control system. FIG. 6 shows an example of the control flow of the remote control system. Note that FIGS. 3 and 4 are shown without hatching for convenience of illustration.
　図１には、本実施例による遠隔制御システムにより遠隔制御される装置として、ロボットＲを含む製造ラインが示されている。同図に示すように、この製造ラインは、ワークＷを搬送するコンベアＣと、作業者（操作者）によってテーブルＴの上に配置されたワークＷを把持して、コンベアＣの上に載置するロボットＲと、ロボットＲの制御プログラムを格納するとともに、ロボットＲに対して各種設定を行うロボットコントローラＲＣと有している。 FIG. 1 shows a manufacturing line including the robot R as a device remotely controlled by the remote control system according to the present embodiment. As shown in the figure, this production line grips the conveyor C for transporting the work W and the work W arranged on the table T by an operator (operator) and places the work W on the conveyor C. It has a robot R to be used, and a robot controller RC that stores the control program of the robot R and makes various settings for the robot R.
　コンベアＣの側面には、複数の非常停止スイッチユニット（操作スイッチ）２が設けられている。非常停止スイッチユニット２は、ロボットコントローラＲＣの正面パネルにも取り付けられている。ロボットコントローラＲＣは、各種表示を行う表示部１２を有しており、その正面パネルには、非常停止スイッチ２に加えて、停止スイッチ１６が取り付けられている。また、ロボットＲの近傍には、レーザスキャナ１３が配置されている。レーザスキャナ１３は、人やワークＷ等の接近を検出するためのものであって、レーザスキャナ１３の周囲には、人が進入すると警告音等で注意を喚起する警告領域Ｅ１と、その内側に配置され、人が接近すると危険と判断される防護領域Ｅ２とが設定されている。 A plurality of emergency stop switch units (operation switches) 2 are provided on the side surface of the conveyor C. The emergency stop switch unit 2 is also attached to the front panel of the robot controller RC. The robot controller RC has a display unit 12 that performs various displays, and a stop switch 16 is attached to the front panel of the robot controller RC in addition to the emergency stop switch 2. A laser scanner 13 is arranged in the vicinity of the robot R. The laser scanner 13 is for detecting the approach of a person, a work W, or the like, and around the laser scanner 13, a warning area E1 that calls attention with a warning sound or the like when a person enters, and inside the warning area E1. A protective area E2 is set which is arranged and is judged to be dangerous when a person approaches.
　操作者の一方の手首には、図２に示すような携帯型無線端末（遠隔操作端末）４が装着されている。無線端末４は、非常停止スイッチユニット２およびロボットＲを遠隔操作するためのものであって、同図に示すように、操作者がもう一方の指や手で操作可能な押しボタン４０と、ディスプレイ（表示部）４３と、操作者の手首の周りに巻回される左右一対のバンド４５とを有しており、バンド４５は、腕時計のバンドと同様に、一方のバンド４５に複数の小穴４５ａが貫通形成され、他方のバンド４５には、これらの小穴４５ａに挿入される、腕時計バンドのつく棒に相当する棒状部材（図示せず）が設けられている。なお、面ファスナやその他の係脱手段により双方のバンド４５を係脱自在に構成するようにしてもよい。 A portable wireless terminal (remote control terminal) 4 as shown in FIG. 2 is attached to one wrist of the operator. The wireless terminal 4 is for remotely controlling the emergency stop switch unit 2 and the robot R, and as shown in the figure, a push button 40 that can be operated by the operator with the other finger or hand, and a display. It has a (display unit) 43 and a pair of left and right bands 45 wound around the operator's wrist, and the band 45 has a plurality of small holes 45a in one band 45, similarly to a wristwatch band. Is formed through, and the other band 45 is provided with a rod-shaped member (not shown) corresponding to a rod to which a wristwatch band is attached, which is inserted into these small holes 45a. Both bands 45 may be freely engaged and disengaged by a hook-and-loop fastener or other engaging and disengaging means.
　非常停止スイッチユニット２は、図３および図４に示すように、ケース（ハウジング）２０と、ケース２０の一端側に設けられ、ケース２０に軸方向スライド可能に支持されるとともに、操作者が手動で押し込み操作（手動操作）するための押圧面２１ａを有する非常停止ボタン２１と、非常停止ボタン２１の押圧面２１ａと逆側の裏面に連結され、ケース２０の内部において軸方向に延びる操作軸２２と、操作軸２２の先端に取り付けられ、操作軸２２とともに移動する可動接点２３と、ケース２０の内壁面に固定され、可動接点２３に対向配置されるとともに、可動接点２３に対して接離する固定接点２４とを備えている。この例では、非常停止ボタン２１は非常停止スイッチユニット２の一端側に配置され、接点は非常停止スイッチユニット２の他端側に配置されている。 As shown in FIGS. 3 and 4, the emergency stop switch unit 2 is provided on the case (housing) 20 and one end side of the case 20, is supported by the case 20 so as to be slidable in the axial direction, and is manually operated by the operator. An emergency stop button 21 having a pressing surface 21a for pushing operation (manual operation) and an operating shaft 22 connected to the back surface opposite to the pressing surface 21a of the emergency stop button 21 and extending in the axial direction inside the case 20. The movable contact 23, which is attached to the tip of the operating shaft 22 and moves together with the operating shaft 22, is fixed to the inner wall surface of the case 20, is arranged to face the movable contact 23, and is brought into contact with and separated from the movable contact 23. It is provided with a fixed contact 24. In this example, the emergency stop button 21 is arranged on one end side of the emergency stop switch unit 2, and the contacts are arranged on the other end side of the emergency stop switch unit 2.
　非常停止スイッチユニット２は、さらに、ケース２０の内部に設けられ、非常停止ボタン２１を作動させるための電磁ソレノイド（作動部）３と、ケース２０の外壁面に取り付けられ、無線端末４からの無線信号を受信する受信部（検知部）３２と、受信部３２で受信（検知）された無線信号に基づいてソレノイド３の駆動を制御する制御回路３３とを備えている。ソレノイド３は、接点と非常停止ボタン２１の間に配置されている。また、ソレノイド３は、ソレノイド本体（電磁コイル部）３０を有しており、ソレノイド本体３０は、操作軸２２を軸方向スライド可能に保持している。ソレノイド本体３０は、操作軸２２を軸方向に移動させるように作用する。制御回路３３は、リード線３４によりソレノイド３に接続されている。 The emergency stop switch unit 2 is further provided inside the case 20 and is attached to an electromagnetic solenoid (acting unit) 3 for operating the emergency stop button 21 and an outer wall surface of the case 20 to wirelessly from the wireless terminal 4. It includes a receiving unit (detecting unit) 32 that receives a signal, and a control circuit 33 that controls the drive of the solenoid 3 based on the radio signal received (detected) by the receiving unit 32. The solenoid 3 is arranged between the contact and the emergency stop button 21. Further, the solenoid 3 has a solenoid main body (electromagnetic coil portion) 30, and the solenoid main body 30 holds the operation shaft 22 so as to be slidable in the axial direction. The solenoid body 30 acts to move the operating shaft 22 in the axial direction. The control circuit 33 is connected to the solenoid 3 by a lead wire 34.
　操作軸２２は、その略中央において外周側に張り出すフランジ部２２ａを有している。一方、ケース２０の内壁面には、内周側に張り出す張出し部２０ａが設けられている。張出し部２０ａは、軸方向に所定の間隔を隔ててフランジ部２２ａに対向配置されている。フランジ部２２ａおよび張出し部２０ａ間には、コイルばね２５が圧縮状態で配設されている。コイルばね２５の一端は、フランジ部２２ａに当接して係止されることで軸部２２の移動とともに移動するようになっている。コイルばね２５の他端は、張出し部２０ａに当接して係止されることでケース２０の側に係止されている。コイルばね２５は、フランジ部２２ａおよび張出し部２０ａに対して弾性反発力を作用させている。この弾性反発力により、可動接点２３は固定接点２４から離れる方向（接点開離方向（図４右側）すなわち非常停止ボタン２１のＯＮ状態からＯＦＦ状態の側）に付勢されている。 The operation shaft 22 has a flange portion 22a that projects toward the outer periphery at substantially the center thereof. On the other hand, the inner wall surface of the case 20 is provided with an overhanging portion 20a that projects toward the inner peripheral side. The overhanging portion 20a is arranged to face the flange portion 22a at a predetermined interval in the axial direction. A coil spring 25 is arranged in a compressed state between the flange portion 22a and the overhanging portion 20a. One end of the coil spring 25 comes into contact with the flange portion 22a and is locked so as to move with the movement of the shaft portion 22. The other end of the coil spring 25 is locked to the side of the case 20 by being in contact with the overhanging portion 20a and locked. The coil spring 25 exerts an elastic rebound force on the flange portion 22a and the overhanging portion 20a. Due to this elastic rebound force, the movable contact 23 is urged in the direction away from the fixed contact 24 (contact opening direction (right side in FIG. 4), that is, the side from the ON state to the OFF state of the emergency stop button 21).
　図３に示す非常停止スイッチ２の非操作時（操作前）においては、コイルばね２５は張出し部２０ａおよびフランジ部２２ａ間で最大圧縮された状態におかれており、コイルばね２５の弾性反発力は最大であって、最大の弾性エネルギーを保有している。これに対して、図４に示す非常停止スイッチ２の操作時においては、コイルばね２５は図３の状態から軸方向に伸びていて、コイルばね２５の弾性反発力は減少しており、コイルばね２５が保有する弾性エネルギーも減少している。 When the emergency stop switch 2 shown in FIG. 3 is not operated (before operation), the coil spring 25 is placed in a state of maximum compression between the overhanging portion 20a and the flange portion 22a, and the elastic rebound force of the coil spring 25. Is the largest and possesses the greatest elastic energy. On the other hand, when the emergency stop switch 2 shown in FIG. 4 is operated, the coil spring 25 extends in the axial direction from the state shown in FIG. 3, and the elastic rebound force of the coil spring 25 is reduced. The elastic energy possessed by 25 is also reduced.
　操作軸２２は、非常停止ボタン２１の近傍において外周側に突出する突部２２ｂを有している。突部２２ｂは縦断面が台形形状をしており、一対の傾斜面を有している。一方、ケース２０の内部には、一対の係合部材２６が設けられている。各係合部材２６は、突部２２ｂの各傾斜面と係合し得る一対の傾斜面を有している。各係合部材２６は、ケース２０の内部に配設されたばね２７の弾性反発力により、対応する各突部２２ｂの側に付勢されている。図３に示す非操作時の状態では、突部２２ｂの図示右側の傾斜面に係合部材２６の図示左側の傾斜面が係合しており、図４に示す操作時の状態では、突部２２ｂの図示左側の傾斜面に係合部材２６の図示右側の傾斜面が係合している。 The operation shaft 22 has a protrusion 22b protruding toward the outer periphery in the vicinity of the emergency stop button 21. The protrusion 22b has a trapezoidal vertical cross section and has a pair of inclined surfaces. On the other hand, a pair of engaging members 26 are provided inside the case 20. Each engaging member 26 has a pair of inclined surfaces that can engage with each inclined surface of the protrusion 22b. Each engaging member 26 is urged to the side of each corresponding protrusion 22b by the elastic rebound force of the spring 27 arranged inside the case 20. In the non-operated state shown in FIG. 3, the inclined surface on the right side in the drawing of the protrusion 22b is engaged with the inclined surface on the left side in the drawing of the engaging member 26, and in the operating state shown in FIG. 4, the protrusion The inclined surface on the left side of the drawing of 22b is engaged with the inclined surface on the right side of the drawing of the engaging member 26.
　ケース２０において、ソレノイド３、コイルばね２５、操作軸２２の突部２２ｂおよび係合部材２６が収容された部分は操作部２０Ａに相当しており、可動接点２３および固定接点２４からなる接点が収容された部分は接点部（コンタクト部）２０Ｂに相当している。操作部２０Ａの一端側に非常停止ボタン２１が配置され、他端側に接点部２０Ｂが配置されている。 In the case 20, the portion in which the solenoid 3, the coil spring 25, the protrusion 22b of the operating shaft 22 and the engaging member 26 are housed corresponds to the operating part 20A, and the contact consisting of the movable contact 23 and the fixed contact 24 is housed. The formed portion corresponds to the contact portion (contact portion) 20B. An emergency stop button 21 is arranged on one end side of the operation unit 20A, and a contact portion 20B is arranged on the other end side.
　次に、遠隔制御システムの概略ブロック構成について図５を用いて説明する。
　同図に示すように、遠隔制御システム１は、ロボットコントローラＲＣを有している。ロボットコントローラＲＣには、ロボットＲに対して各種設定等を行うための入出力部１１と、各種表示を行う表示部１２と、レーザスキャナ１３と、他の機器との間で送受信を行うための送受信部１４と、ロボットＲのアームやエンドエフェクタ等を駆動するロボット駆動部１５と、ロボットＲのアーム等をソフト停止させるための停止スイッチ１６と、ロボットＲの周囲を監視する監視カメラ（図示せず）やロボットＲに取り付けられたセンサ（図示せず）等のセンシング機器１７と、他の機器との間で送受信を行うための送受信部１８と、ロボットＲのアーム等を非常停止させるための非常停止スイッチユニット２とが接続されている。非常停止スイッチユニット２に対しては、無線端末４１、４２が送受信可能に設けられている。 Next, a schematic block configuration of the remote control system will be described with reference to FIG.
As shown in the figure, the remote control system 1 has a robot controller RC. The robot controller RC includes an input / output unit 11 for making various settings for the robot R, a display unit 12 for performing various displays, a laser scanner 13, and other devices for transmitting and receiving. The transmission / reception unit 14, the robot drive unit 15 that drives the arm and end effector of the robot R, the stop switch 16 for softly stopping the arm and the like of the robot R, and a monitoring camera that monitors the surroundings of the robot R (shown in the figure). The sensing device 17 such as a sensor (not shown) attached to the robot R, the transmission / reception unit 18 for transmitting / receiving between the other device, and the arm of the robot R for emergency stop. The emergency stop switch unit 2 is connected. Wireless terminals 4 1 and 4 2 are provided so as to be able to transmit and receive to the emergency stop switch unit 2.
　無線端末４１は、図５に示すように、各種制御を行うための制御回路４４を有している。制御回路４４には、非常停止スイッチユニット２を遠隔操作するための押しボタン４０と、押しボタン４０の押込み時に非常停止信号を送信する送信部４１と、他の機器からの信号を受信する受信部４２と、表示部４３とが接続されている。無線端末４２は無線端末４１とほぼ同様の構成を有しているが、無線端末４２には、ＥＳスイッチ（非常停止スイッチ）およびＳＳスイッチ（ソフト停止スイッチ）（いずれも図示せず）がさらに設けられている。 Wireless terminal 4 1, as shown in FIG. 5, a control circuit 44 for performing various controls. The control circuit 44 includes a push button 40 for remotely controlling the emergency stop switch unit 2, a transmission unit 41 that transmits an emergency stop signal when the push button 40 is pressed, and a reception unit that receives signals from other devices. The 42 and the display unit 43 are connected. The wireless terminal 4 2 has almost the same configuration as the wireless terminal 4 1 , but the wireless terminal 4 2 has an ES switch (emergency stop switch) and an SS switch (soft stop switch) (neither is shown). Is further provided.
　非常停止スイッチユニット２の制御回路３３には、図５に示すように、非常停止ボタン２１と、無線端末４１の送信部４１から送信された非常停止信号を無線で受信する受信部３２と、他の機器に対して信号を送信する送信部３５と、ソレノイド３とが接続されている。 The emergency stop switch unit 2 of the control circuit 33, as shown in FIG. 5, the emergency stop button 21, a receiving unit 32 for receiving an emergency stop signal transmitted from the transmitter 41 of the wireless terminal 4 1 wirelessly, A transmission unit 35 that transmits a signal to another device and a solenoid 3 are connected.
　送信部４１および受信部３２間の通信（他の機器との間の通信についても同様）については、たとえば、Ｗｉ-Ｆｉ（登録商標）通信、ＢＬＵＥＴＯＯＴＨ（登録商標）通信、ＺＩＧＢＥＥ（登録商標）通信、ＢＬＥ（Bluetooth（登録商標） Low Energy）通信、ＷｉＭＡＸ（登録商標）通信、赤外線通信等が用いられる。 Regarding communication between the transmitting unit 41 and the receiving unit 32 (the same applies to communication with other devices), for example, Wi-Fi (registered trademark) communication, BLUETOOTH (registered trademark) communication, ZIGBEE (registered trademark) communication. , BLE (Bluetooth (registered trademark) Low Energy) communication, WiMAX (registered trademark) communication, infrared communication and the like are used.
　次に、本実施例による遠隔制御システム１の制御フローの一例について、図１ないし図５を参照しつつ、図６のフローチャートを用いて説明する。
　無線端末１のステップＴ１において、非常停止信号（遠隔操作信号）が送信される。すなわち、操作者が無線端末４１の押しボタン４０を押込み操作することにより、送信部４１から非常停止信号が無線で送信される。 Next, an example of the control flow of the remote control system 1 according to the present embodiment will be described with reference to FIGS. 1 to 5 with reference to the flowchart of FIG.
In step T1 of the wireless terminal 1, an emergency stop signal (remote control signal) is transmitted. That is, the operator by depressing the push button 40 of the wireless terminal 4 1, emergency stop signal from the transmitter 41 is transmitted by radio.
　送信された非常停止信号は、非常停止スイッチユニットのステップＳ１において、非常停止スイッチユニット２の受信部３２で受信され、受信後、ステップＳ２に移行する。ステップＳ２では、タイマーを起動させる。次に、ステップＳ３では、送信部３５から確認信号が送信される。送信された確認信号は、無線端末２／センシング機器（レーザスキャナ含む）のステップＣ１において、無線端末２または（および）センシング機器１７で受信される。 The transmitted emergency stop signal is received by the receiving unit 32 of the emergency stop switch unit 2 in step S1 of the emergency stop switch unit, and after receiving, the process proceeds to step S2. In step S2, the timer is activated. Next, in step S3, a confirmation signal is transmitted from the transmission unit 35. The transmitted confirmation signal is received by the wireless terminal 2 or / or the sensing device 17 in step C1 of the wireless terminal 2 / sensing device (including the laser scanner).
　ここで、無線端末１は操作者によって携帯されているのに対し、無線端末２は操作者の監督者または現場責任者が携帯している。操作者の無線端末１から非常停止信号が送信されたことの確認信号を無線端末２によって監督者等が認知すると、監督者等は、たとえば、実際の製造ラインにおいて操作者が危険源のロボットＲに対してどれだけ離れているかに基づいてロボットＲを非常停止させるべきか否か（すなわち、非常停止を有効化すべきか無効化すべきか）判断し、非常停止させるべきと判断すれば、無線端末２のＥＳスイッチをオンにする。すると、無線端末２の送信部からＥＳ信号が送信される（ステップＣ３）。これに対して、非常停止させなくてもよいと判断すれば、監督者等は無線端末２のＳＳスイッチをオンにする。すると、無線端末２の送信部から無効化信号が送信される（ステップＣ４）。したがって、これらの場合、ステップＣ２においては、監督者等による無線端末２のスイッチ操作を待っている待機状態にあるといえる。 Here, the wireless terminal 1 is carried by the operator, while the wireless terminal 2 is carried by the operator's supervisor or the site manager. When the supervisor or the like recognizes the confirmation signal that the emergency stop signal has been transmitted from the operator's wireless terminal 1 by the wireless terminal 2, the supervisor or the like, for example, in the actual production line, the operator is the robot R as a danger source. If it is determined whether or not the robot R should be emergency-stopped (that is, whether the emergency stop should be enabled or disabled) based on how far it is from the robot R, and if it is determined that the robot R should be emergency-stopped, the wireless terminal Turn on the ES switch of 2. Then, the ES signal is transmitted from the transmission unit of the wireless terminal 2 (step C3). On the other hand, if it is determined that the emergency stop is not necessary, the supervisor or the like turns on the SS switch of the wireless terminal 2. Then, the invalidation signal is transmitted from the transmission unit of the wireless terminal 2 (step C4). Therefore, in these cases, in step C2, it can be said that the user is in a standby state waiting for the switch operation of the wireless terminal 2 by the supervisor or the like.
　その一方、非常停止スイッチユニット２の送信部３５から送信された確認信号が、ステップＣ１においてセンシング機器１７で受信されると、ステップＣ２に移行する。ステップＣ２においては、無線端末１によりなされた非常停止（遠隔操作）が有効か否か（すなわち、非常停止を有効化すべきか無効化すべきか）判断する。このとき、センシング機器１７が監視カメラの場合には、監視カメラで撮影された画像を分析して操作者がロボットＲの可動範囲に進入しているか否かに基づいて判断し、センシング機器１７がロボットＲに取り付けられたセンサである場合には、センサのセンシング領域に操作者が進入しているか否かに基づいて判断し、センシング機器１７がレーザスキャナ１３である場合には、レーザスキャナ１３の防護領域Ｅ２に操作者が進入しているか否かに基づいて判断する。 On the other hand, when the confirmation signal transmitted from the transmission unit 35 of the emergency stop switch unit 2 is received by the sensing device 17 in step C1, the process proceeds to step C2. In step C2, it is determined whether or not the emergency stop (remote control) made by the wireless terminal 1 is valid (that is, whether the emergency stop should be enabled or disabled). At this time, if the sensing device 17 is a surveillance camera, the image taken by the surveillance camera is analyzed to determine whether or not the operator has entered the movable range of the robot R, and the sensing device 17 determines. In the case of the sensor attached to the robot R, the determination is made based on whether or not the operator has entered the sensing area of the sensor, and in the case of the sensing device 17 being the laser scanner 13, the laser scanner 13 The judgment is made based on whether or not the operator has entered the protected area E2.
　操作者がロボットＲの可動範囲、センサのセンシング領域またはレーザスキャナ１３の防護領域Ｅ２に進入している場合には、ステップＣ２において非常停止を有効化すべきと判断されて、ステップＣ３に移行し、ＥＳ信号が送信される。これに対して、操作者がロボットＲの可動範囲、センサのセンシング領域またはレーザスキャナ１３の防護領域Ｅ２に進入していない場合には、ステップＣ２において非常停止を無効化すべきと判断されて、ステップＣ４に移行し、無効化信号が送信される。 When the operator has entered the movable range of the robot R, the sensing area of the sensor, or the protected area E2 of the laser scanner 13, it is determined that the emergency stop should be enabled in step C2, and the process proceeds to step C3. The ES signal is transmitted. On the other hand, if the operator has not entered the movable range of the robot R, the sensing area of the sensor, or the protected area E2 of the laser scanner 13, it is determined in step C2 that the emergency stop should be invalidated, and the step It shifts to C4 and an invalidation signal is transmitted.
　ステップＣ３でＥＳ信号が送信されると、非常停止スイッチユニットのステップＳ６に移行する。ステップＳ６では、非常停止スイッチユニット２の制御回路３３からソレノイド３のソレノイド本体３０に電流が供給されてソレノイドがＯＮとなり、これにより、図４に示すように、ソレノイド３のプランジャ３１が引き込まれて図示右側に移動する。その結果、プランジャ３１に連結された操作軸２２も同様に図示右側に移動し、可動接点２３が固定接点２４から開離して接点がオフとなり、非常停止ボタン２１が押し込まれた状態でロックされる。このような遠隔操作時には、操作者が非常停止ボタン２１を手動で押し込み操作した場合と全く同じ状態におかれている。ステップＳ６で接点がオフになると、ロボットコントローラのステップＲ５において、ロボットＲのアーム等が非常停止する。 When the ES signal is transmitted in step C3, the process proceeds to step S6 of the emergency stop switch unit. In step S6, a current is supplied from the control circuit 33 of the emergency stop switch unit 2 to the solenoid body 30 of the solenoid 3, and the solenoid is turned on. As a result, the plunger 31 of the solenoid 3 is pulled in as shown in FIG. Move to the right side of the figure. As a result, the operation shaft 22 connected to the plunger 31 also moves to the right side in the drawing, the movable contact 23 is separated from the fixed contact 24, the contact is turned off, and the emergency stop button 21 is locked in a pushed state. .. At the time of such remote control, the state is exactly the same as when the operator manually pushes the emergency stop button 21. When the contact is turned off in step S6, the arm or the like of the robot R is emergency stopped in step R5 of the robot controller.
　ステップＣ４で無効化信号が送信されると、非常停止スイッチユニットのステップＳ４に移行する。すると、ステップＳ４での判断が「Ｙｅｓ」となる。ロボットコントローラのステップＲ２では、非常停止スイッチユニットのステップＳ４で無効化信号が受信されたのを受けて、ＳＳ（ソフト停止）信号を生成し、ステップＲ３ではＳＳ信号を送信する。すると、ステップＲ４において、ロボットＲのアーム等がソフト停止する。 When the invalidation signal is transmitted in step C4, the process proceeds to step S4 of the emergency stop switch unit. Then, the determination in step S4 becomes "Yes". In step R2 of the robot controller, the SS (soft stop) signal is generated in response to the invalidation signal received in step S4 of the emergency stop switch unit, and the SS signal is transmitted in step R3. Then, in step R4, the arm or the like of the robot R softly stops.
　ここで、「ソフト停止」とは、既述したように、機械安全国際規格ＩＥＣ ６０２０４－１（日本工業規格ＪＩＳ Ｂ ９９６０－１）に規定された停止カテゴリー２による停止であって、このソフト停止時には、ロボットＲはロボット駆動部１５に電力が供給されたままの状態で、たとえば制御プログラムやシーケンサー、論理回路等によってアーム等がたとえば減速しながら停止する。また、「非常停止」とは、既述したように上記規格に規定された停止カテゴリー０または１による停止であって、この非常停止時には、ロボットＲのロボット駆動部１５への電力供給が遮断された状態でロボットＲが停止する。 Here, as described above, the "soft stop" is a stop according to the stop category 2 defined in the international machine safety standard IEC 60204-1 (Japanese Industrial Standard JIS B 9960-1), and this soft stop. Occasionally, the robot R stops while the arm or the like is decelerating, for example, by a control program, a sequencer, a logic circuit, or the like, while the power is still being supplied to the robot drive unit 15. Further, the "emergency stop" is a stop according to the stop category 0 or 1 defined in the above standard as described above, and at the time of this emergency stop, the power supply to the robot drive unit 15 of the robot R is cut off. The robot R stops in this state.
　またステップＣ４から無効化信号が送信されなければ、ステップＳ４での判断が「Ｎｏ」となって、ステップＳ５に移行し、ステップＳ２で起動されたタイマーによる設定時間が経過してタイムアウトになったか否か判断する。まだタイムアウトになっていなければ、ステップＳ４に戻り、無効化信号が受信されるのを待つ。ステップＳ５でタイムアウトになれば、ステップＳ６に移行する。ステップＳ６では、非常停止スイッチユニット２のソレノイド３をＯＮにして、ロボットＲを非常停止させる（ステップＲ５参照）。 If the invalidation signal is not transmitted from step C4, the judgment in step S4 becomes "No", the process proceeds to step S5, and the time set by the timer started in step S2 has elapsed and the timeout has occurred. Judge whether or not. If it has not yet timed out, the process returns to step S4 and waits for the invalidation signal to be received. If the timeout occurs in step S5, the process proceeds to step S6. In step S6, the solenoid 3 of the emergency stop switch unit 2 is turned on to make the robot R emergency stop (see step R5).
　その一方、無線端末１のステップＴ１において、非常停止信号（遠隔操作信号）が送信されると、送信された非常停止信号は、ロボットコントローラのステップＲ１で受信される。そして、受信後、ステップＲ２に移行してＳＳ（ソフト停止）信号を生成し、ステップＲ３においてＳＳ信号を送信する。これにより、ステップＲ４において、ロボットＲのアーム等がソフト停止する。すなわち、この場合には、ロボットＲは非常停止スイッチユニット２を介することなく直接制御されており、無線端末１から非常停止信号が送信されれば、これを直接受信して必ずソフト停止するようになっている。 On the other hand, when the emergency stop signal (remote control signal) is transmitted in step T1 of the wireless terminal 1, the transmitted emergency stop signal is received in step R1 of the robot controller. Then, after reception, the process proceeds to step R2 to generate an SS (soft stop) signal, and the SS signal is transmitted in step R3. As a result, in step R4, the arm and the like of the robot R are softly stopped. That is, in this case, the robot R is directly controlled without going through the emergency stop switch unit 2, and if an emergency stop signal is transmitted from the wireless terminal 1, it is directly received and softly stopped. It has become.
　なお、無線端末１との通信不良等が原因で万一ロボットコントローラ側で非常停止信号が無線で受信されなかった場合でも、非常停止スイッチユニットのステップＳ４で受信された無効化信号はロボットコントローラ側で受け取ることができるので、ロボットコントローラは、ステップＲ２～Ｒ４の処理を行ってロボットＲをソフト停止させることができる。また、ロボットコントローラ側の処理回路では、非常停止スイッチユニット２からの非常停止信号および無効化信号が２重化されて論理和（ＯＲ）回路で接続されており、そのため、いずれかの信号が入力されれば、ロボットＲがソフト停止処理されるようになっている。また、その場合でも、ステップＣ２での有効化の判断を受けて、非常停止スイッチユニットのステップＳ６でソレノイドがＯＮされれば、ロボットＲは非常停止する（ステップＲ５参照）。 Even if the emergency stop signal is not wirelessly received on the robot controller side due to poor communication with the wireless terminal 1, the invalidation signal received in step S4 of the emergency stop switch unit is on the robot controller side. The robot controller can perform the processes of steps R2 to R4 to softly stop the robot R. Further, in the processing circuit on the robot controller side, the emergency stop signal and the invalidation signal from the emergency stop switch unit 2 are duplicated and connected by a logical sum (OR) circuit, so that either signal is input. If so, the robot R is soft-stopped. Even in that case, if the solenoid is turned on in step S6 of the emergency stop switch unit in response to the determination of activation in step C2, the robot R will stop in an emergency (see step R5).
　本実施例によれば、無線端末４（４１）から送信された非常停止信号が非常停止スイッチユニット２の受信部３２で受信されると、有効化／無効化手段が、非常停止を有効化／無効化のいずれとすべきかの判断にしたがって、具体的には、無線端末４（４１）を携帯した操作者がたとえばロボットＲの防護領域にいるか警告領域にいるか等の判断基準にしたがって（すなわち、危険度合いに応じて）、非常停止スイッチユニット２への非常停止（遠隔操作）を有効化／無効化する。非常停止を有効化した場合には、ソレノイド３が非常停止ボタン２１を作動させてロボットＲを非常停止させる。 According to this embodiment, when the emergency stop signal transmitted from the radio terminal 4 (4 1) is received by the receiver 32 of the emergency stop switch unit 2, enable / disable means, activate the emergency stop / accordance judgment any and should be invalidation, specifically, the radio terminal 4 (4 1) mobile the operator, for example in accordance with criteria such as dolphin on whether the warning region are in protected areas of the robot R (the That is, the emergency stop (remote control) to the emergency stop switch unit 2 is enabled / disabled according to the degree of danger). When the emergency stop is enabled, the solenoid 3 activates the emergency stop button 21 to make the robot R emergency stop.
　このようにして、無線端末４（４１）を用いることにより、非常停止スイッチユニット２の遠隔操作で装置を遠隔制御（つまり非常停止）できるのみならず、遠隔操作の有効化／無効化に応じて装置を遠隔制御できるようになる。その結果、非常停止スイッチユニット２の遠隔操作（非常停止）による操作とは異なる操作で装置を遠隔制御（ソフト停止）できるようになる。よって、停止スイッチ１６から離れた場所にいる場合でも、無線端末４（４１）を操作することで、ロボットＲをソフト停止できるようになる。この場合、無線端末４（４１）は、危険源であるロボットＲからの距離が近ければ非常停止スイッチとして機能し、危険源である装置からの距離が遠ければソフト停止スイッチとして機能することになる。 In this way, by using the wireless terminal 4 (4 1), not only the device remotely of the emergency stop switch unit 2 can be remotely controlled (i.e. emergency stop), according to enable / disable the remote control Allows remote control of the device. As a result, the device can be remotely controlled (soft stop) by an operation different from the operation by the remote control (emergency stop) of the emergency stop switch unit 2. Therefore, even if they are away from the stop switch 16, by operating the wireless terminal 4 (4 1), so that the robot R can soft stop. In this case, the radio terminal 4 (4 1) functions as an emergency stop switch the closer the distance from the robot R is hazard, in that the distance from a hazard device functions as a soft stop switch if farther Become.
〔第１の変形例〕
　前記実施例では、図６のフローチャートのステップＲ１に示すように、無線端末１のステップＴ１で送信された非常停止信号（遠隔操作信号）がロボットコントローラ側で受信されるように構成した例を示したが、このステップＲ１は省略するようにしてもよい。この場合、ロボットＲは、非常停止スイッチユニット２からの無効化信号を受けてからソフト停止することになる。 [First modification]
In the above embodiment, as shown in step R1 of the flowchart of FIG. 6, an example is shown in which the robot controller is configured to receive the emergency stop signal (remote control signal) transmitted in step T1 of the wireless terminal 1. However, this step R1 may be omitted. In this case, the robot R softly stops after receiving the invalidation signal from the emergency stop switch unit 2.
〔第２の変形例〕
　前記実施例では、図６のフローチャートに示すように、非常停止スイッチユニットのステップＳ１において非常停止信号を受信した後、ステップＳ２に移行してタイマーを起動するようにした例を示したが、ステップＳ１とステップＳ２の間に、受信した非常停止信号の電波強度の大小について判断するステップを設けるようにしてもよい。 [Second modification]
In the above embodiment, as shown in the flowchart of FIG. 6, after receiving the emergency stop signal in step S1 of the emergency stop switch unit, the process proceeds to step S2 to activate the timer. A step for determining the magnitude of the radio field intensity of the received emergency stop signal may be provided between S1 and step S2.
　一般に、電波強度は距離の２乗に反比例して減衰する特性があるので、受信した非常停止信号の電波強度が一定レベル以上であれば、無線端末４（４１）を携帯した操作者が非常停止スイッチユニット２に近い位置にいるということなので、その場合には、ステップＳ２～Ｓ５をスキップしてステップＳ６に移行し、ソレノイド３をＯＮにしてロボットＲを停止させるようにする。一方、受信した非常停止信号の電波強度が一定レベルに達していなければ、無線端末１を携帯した操作者が非常停止スイッチユニット２から離れた位置にいるということなので、その場合には、前記実施例と同様にして、ステップＳ２～Ｓ６の処理を行う。 In general, the radio wave intensity has the characteristic that attenuates in inverse proportion to the square of the distance, if the radio field intensity of the emergency stop signal received by a certain level or higher, the radio terminal 4 (4 1) Mobile the operator very much Since the position is close to the stop switch unit 2, in that case, steps S2 to S5 are skipped and the process proceeds to step S6, the solenoid 3 is turned on, and the robot R is stopped. On the other hand, if the radio wave strength of the received emergency stop signal does not reach a certain level, it means that the operator carrying the wireless terminal 1 is at a position away from the emergency stop switch unit 2. The processes of steps S2 to S6 are performed in the same manner as in the example.
〔第３の変形例〕
　前記実施例では、ロボットコントローラＲＣに接続されるセンシング機器１７として、監視カメラやセンサを例にとって説明したが、無線端末４（４１）にＧＰＳ機能を搭載させることにより、無線端末４（４１）を携帯する操作者およびロボットＲのそれぞれの座標位置から両者間の距離を算出し、当該距離に基づいてステップＣ２での判断を行うようにしてもよい。 [Third variant]
In the above embodiment, as a sensing device 17 connected to the robot controller RC, has been described surveillance camera or sensor for example, by a GPS function to the wireless terminal 4 (4 1), the radio terminal 4 (4 1 ) May be calculated from the respective coordinate positions of the operator carrying the robot R and the robot R, and the determination in step C2 may be made based on the distance.
〔第４の変形例〕
　前記実施例では、無線端末４（４１、４２）として、操作者が手首に装着することができるリストウォッチ（またはリストバンド）タイプのものを例にとって説明したが、操作者が身に付ける場所としては、手首に限らず、指（つまり指輪タイプ）でもよく、手の平に装着するタイプでもよい。また、手首のスナップ動作で動作するように加速度センサが内蔵されたものでもよい。さらに、無線端末４（４１、４２）としては、これら携帯型（ウェアラブルタイプ）のものに限らない。操作者の体に装着するためのバンド４５等の装着部がないものでもよい。この場合、無線端末４（４１、４２）は、たとえば作業服のポケット等に収納される。あるいは、無線端末４（４１、４２）は、ペンダント型の操作端末でもよい。 [Fourth variant]
In the above embodiment, as the radio terminal 4 (4 1, 4 2), but the operator has been described as an example that the wristwatch (or wristband) type that can be worn on the wrist, the operator wear The place is not limited to the wrist, but may be a finger (that is, a ring type) or a type worn on the palm. Further, the acceleration sensor may be built in so as to operate by the snap operation of the wrist. Further, the wireless terminal 4 (4 1 , 4 2 ) is not limited to these portable types (wearable types). It may not have a mounting portion such as a band 45 for mounting on the operator's body. In this case, the wireless terminal 4 (4 1 , 4 2 ) is stored in, for example, a pocket of work clothes. Alternatively, the wireless terminal 4 (4 1 , 4 2 ) may be a pendant type operation terminal.
〔第５の変形例〕
　前記実施例では、無線端末４（４１）が単一の無線端末から構成された例を示したが、本発明の適用はこれに限定されない。無線端末４（４１）は、２つ以上の無線端末から構成されていてもよく、タブレットやスマートフォン等と連携させるようにしてもよい。これにより、他の無線端末やタブレット等との間で通信が可能になって、操作支援の確実性をさらに向上できる。 [Fifth variant]
In the above embodiment, the radio terminal 4 (4 1) Although an example composed of a single wireless terminal, the application of the present invention is not limited thereto. The wireless terminal 4 (4 1 ) may be composed of two or more wireless terminals, and may be linked with a tablet, a smartphone, or the like. As a result, communication with other wireless terminals, tablets, and the like becomes possible, and the certainty of operation support can be further improved.
〔第６の変形例〕
　前記実施例において、無線端末４（４１、４２）の押しボタン４０は、ボタンを押した後に手を離してもＯＮ状態を保持するオルタネイト動作方式でも、ボタンを押している間だけＯＮ状態になるモーメンタリ動作方式でもどちらでもよい。また、オルタネイト動作方式においては、ボタンを押したときに送信信号を連続して送信するタイプでなくてもよく、送信信号を間欠的に送信するタイプであってもよい。 [Sixth variant]
In the above embodiment, the push button 40 of the wireless terminal 4 (4 1 , 4 2 ) is kept in the ON state only while the button is pressed, even in the alternate operation method in which the push button 40 is kept in the ON state even if the hand is released after the button is pressed. Either of the momentary operation methods is used. Further, in the alternate operation method, the transmission signal may not be continuously transmitted when the button is pressed, and may be a type in which the transmission signal is intermittently transmitted.
〔他の適用例〕
　前記実施例では、本発明がＦＡ（Factory Automation）に適用された例を示したが、本発明は、装置のみで自動化された製造／組立等のラインのみならず、人とロボットが協調して作業を行う協調ロボットを含むラインにも適用でき、工場や倉庫内を移動する無人搬送車（ＡＧＶ：automated guided vehicle）にも適用できる。また、本発明は、製造業や流通業の分野に限らず、飲食業界や食品業界、医療、建設、土木の分野にも同様に適用可能である。 [Other application examples]
In the above-described embodiment, an example in which the present invention is applied to FA (Factory Automation) is shown, but in the present invention, not only a manufacturing / assembly line automated only by an apparatus but also a human and a robot cooperate with each other. It can be applied to a line including a cooperative robot that performs work, and can also be applied to an automated guided vehicle (AGV) that moves in a factory or warehouse. Further, the present invention is not limited to the fields of manufacturing and distribution, but is similarly applicable to the fields of food and drink, food industry, medical care, construction, and civil engineering.
〔その他の変形例〕
　上述した実施例および各変形例はあらゆる点で本発明の単なる例示としてのみみなされるべきものであって、限定的なものではない。本発明が関連する分野の当業者は、本明細書中に明示の記載はなくても、上述の教示内容を考慮するとき、本発明の精神および本質的な特徴部分から外れることなく、本発明の原理を採用する種々の変形例やその他の実施例を構築し得る。 [Other variants]
The above-mentioned examples and each modification should be regarded in all respects merely as an example of the present invention, and are not limited. Those skilled in the art in the field to which the present invention relates will not deviate from the spirit and essential features of the present invention when considering the above teaching contents, even if not explicitly stated in the present specification. Various variants and other embodiments that employ the principle of can be constructed.
　本発明は、遠隔操作端末により、操作スイッチの遠隔操作で装置を遠隔制御できる遠隔制御システムおよび遠隔制御方法に有用である。 The present invention is useful for a remote control system and a remote control method capable of remotely controlling a device by remote control of an operation switch by a remote control terminal.
　１：　遠隔操作システム
 
　２：　非常停止スイッチユニット（操作スイッチ）
　３：　電磁ソレノイド（作動部）
　３２：　受信部（検知部）
 
　４（４１）：　携帯型無線端末（遠隔操作端末）
 
　ステップＣ３：　有効化手段
　ステップＣ４：　無効化手段
　ステップＲ１：　ＳＳ信号生成（操作信号生成）手段 1: Remote control system
2: Emergency stop switch unit (operation switch)
3: Electromagnetic solenoid (acting part)
32: Receiver (detector)

4 (4 1 ): Portable wireless terminal (remote control terminal)

Step C3: Activation means Step C4: Invalidation means Step R1: SS signal generation (operation signal generation) means

Claims (8)

  1. 　操作スイッチを有する装置の遠隔制御システムであって、
    　遠隔操作端末と、
    　前記遠隔操作端末による遠隔操作を検知する検知部と、
    　前記検知部で検知された前記遠隔操作に基づいて前記操作スイッチを作動させる作動部と、
    　前記検知部で前記遠隔操作が検知された際に、前記遠隔操作を有効／無効のいずれとすべきかの判断にしたがって、前記操作スイッチへの前記遠隔操作を有効化／無効化する有効化／無効化手段と、
    　前記有効化／無効化手段により前記遠隔操作を有効化した場合に、前記作動部により前記操作スイッチを作動させるよう制御する制御手段と、
    を備えた遠隔制御システム。     A remote control system for a device that has an operation switch.
    With a remote control terminal
    A detector that detects remote control by the remote control terminal,
    An operating unit that operates the operation switch based on the remote control detected by the detecting unit,
    When the remote control is detected by the detection unit, enable / disable the remote control to the operation switch according to the determination as to whether the remote control should be enabled or disabled. Means of conversion and
    When the remote control is enabled by the enable / disable means, a control means for controlling the operation switch to be operated by the actuating unit, and
    Remote control system with.
  2. 　請求項１において、
    　前記遠隔操作端末による前記遠隔操作によって前記装置が前記操作スイッチを介することなく直接制御されている、
    ことを特徴とする遠隔制御システム。     In claim 1,
    The device is directly controlled by the remote operation by the remote control terminal without going through the operation switch.
    A remote control system characterized by that.
  3. 　請求項１において、
    　前記制御手段は、危険の度合いに応じて前記遠隔操作の有効／無効を判断している、
    ことを特徴とする遠隔制御システム。     In claim 1,
    The control means determines whether the remote control is valid / invalid according to the degree of danger.
    A remote control system characterized by that.
  4. 　請求項１において、
    　前記制御手段は、前記有効化／無効化手段により前記遠隔操作を無効化した場合に、前記操作スイッチの前記遠隔操作による操作とは異なる操作により前記装置を制御している、
    ことを特徴とする遠隔制御システム。     In claim 1,
    When the remote control is invalidated by the enable / disable means, the control means controls the device by an operation different from the operation of the operation switch by the remote control.
    A remote control system characterized by that.
  5. 　請求項４において、
    　前記操作スイッチが非常停止スイッチであり、前記遠隔操作が非常停止であって、前記異なる操作がソフト停止である、
    ことを特徴とする遠隔制御システム。     In claim 4,
    The operation switch is an emergency stop switch, the remote operation is an emergency stop, and the different operation is a soft stop.
    A remote control system characterized by that.
  6. 　請求項１において、
    　前記操作スイッチが非常停止スイッチであり、前記遠隔操作が非常停止である、
    ことを特徴とする遠隔制御システム。     In claim 1,
    The operation switch is an emergency stop switch, and the remote operation is an emergency stop.
    A remote control system characterized by that.
  7. 　操作スイッチを有する装置の遠隔制御方法であって、
    　遠隔操作端末から遠隔操作信号を送信し、
    　送信された前記遠隔操作信号を受信し、
    　前記遠隔操作信号の受信後に、遠隔操作を有効化するかまたは無効化するかの判断にしたがって、前記操作スイッチへの前記遠隔操作を有効化または無効化するようにし、前記遠隔操作を有効化した場合に前記操作スイッチを作動させるようにした、
    ことを特徴とする遠隔制御方法。     It is a remote control method for devices with operation switches.
    Send a remote control signal from the remote control terminal
    Upon receiving the transmitted remote control signal,
    After receiving the remote control signal, the remote control was enabled or disabled to enable or disable the remote control according to the determination of whether to enable or disable the remote control, and the remote control was enabled. In some cases, the operation switch is activated.
    A remote control method characterized by that.
  8. 　請求項７において、
    　前記操作スイッチが非常停止スイッチであり、前記遠隔操作が非常停止である、
    ことを特徴とする遠隔制御方法。     In claim 7,
    The operation switch is an emergency stop switch, and the remote operation is an emergency stop.
    A remote control method characterized by that.
PCT/JP2020/007275 2019-03-29 2020-02-24 Remote control system and remote control method WO2020202894A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019-069439 2019-03-29
JP2019069439A JP7204301B2 (en) 2019-03-29 2019-03-29 Remote control system and remote control method

Publications (1)

Publication Number Publication Date
WO2020202894A1 true WO2020202894A1 (en) 2020-10-08

Family

ID=72668337

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2020/007275 WO2020202894A1 (en) 2019-03-29 2020-02-24 Remote control system and remote control method

Country Status (2)

Country Link
JP (1) JP7204301B2 (en)
WO (1) WO2020202894A1 (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010011065A (en) * 2008-06-26 2010-01-14 Nec System Technologies Ltd Control device and method of apparatus having push switch
JP2015001311A (en) * 2013-06-13 2015-01-05 三菱電機株式会社 Hot water supply system
JP2016018511A (en) * 2014-07-10 2016-02-01 Dmg森精機株式会社 Mechanical device and control method thereof, and remote control device and main operation device
JP2018202563A (en) * 2017-06-06 2018-12-27 Idec株式会社 Cooperative safety control method and cooperative safety control system

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010011065A (en) * 2008-06-26 2010-01-14 Nec System Technologies Ltd Control device and method of apparatus having push switch
JP2015001311A (en) * 2013-06-13 2015-01-05 三菱電機株式会社 Hot water supply system
JP2016018511A (en) * 2014-07-10 2016-02-01 Dmg森精機株式会社 Mechanical device and control method thereof, and remote control device and main operation device
JP2018202563A (en) * 2017-06-06 2018-12-27 Idec株式会社 Cooperative safety control method and cooperative safety control system

Also Published As

Publication number Publication date
JP2020167648A (en) 2020-10-08
JP7204301B2 (en) 2023-01-16

Similar Documents

Publication Publication Date Title
US10152043B2 (en) Robot system
AU2018314391B2 (en) Remote control arrangement
US9931247B2 (en) Interworking controlling method of an electronic eye protection apparatus for welding and a smartphone
US11942288B2 (en) Operation switch unit with operation support function, operation unit with operation support function, and operation support system
WO2020202894A1 (en) Remote control system and remote control method
EP1444072B1 (en) A system and method for communication between an industrial robot and a tpu
JP2020167676A (en) Operation support system
EP3720142A1 (en) Operation switch unit, remote operation terminal, and operation system
US20050209734A1 (en) Robot system and controller
JP6093096B2 (en) Rescue worker position tracking device using bidirectional signal transmitter / receiver
JP2021052418A (en) Wearable wireless terminal for emergency stop switch
JP7384685B2 (en) Wireless operation support system and operation switch unit with wireless operation support function
JP7054591B2 (en) Stop switch unit
JP2020057461A (en) Operation switch unit with operation support function and operation support system
JP6291743B2 (en) Industrial machine system and transmission / reception system
JP6214872B2 (en) Robot control system and portable operation device
GB2592116A (en) Assistive device providing traffic light control activation for multiple disability use
JP2020021659A (en) Operation switch unit with operation support function and operation support system
JP7257567B2 (en) Operation switch unit with operation support function and operation support system
TWI832883B (en) Wireless communication establishment method
WO2019187581A1 (en) Information processing device, information processing system, information processing method, and information processing program
KR101575101B1 (en) Warning message is equipped with a function to display a warning message display of system
KR20230000120U (en) Self-driving robot that performs eavesdropping detection function
JP2015106800A (en) Bidirectional communication system
AU2024200526A1 (en) Connected wearable for machine to human communication

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20784057

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20784057

Country of ref document: EP

Kind code of ref document: A1